Sending custom DSDL requests with ease

[Pavel Vasev]

Hi there!

We are developing custom uavcan protocol and thus have some DSDL definition files.

Is there a way to send requests (defined in our DSDL definitions) using uavcan_gui_tool or uavcan_nodetool ?

We hope this will simplify our debug process (instead of writing own request tool).

Thanks a lot!

Best Regards,

Pavel Vasev

[Pavel Kirienko]

As of today, the only way to send a custom DSDL message, request, or response, is to use the embedded IPython console. It is a bit inconvenient but highly generic and flexible. You can also implement your own Panel, like the ESC Panel, for your custom data types. It shouldn't be difficult, PyQt5 is quite friendly; use the aforementioned ESC Panel as an example.

Pavel.

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[Pavel Vasev]

Thank you, Pavel!

вт, 3 апр. 2018, 15:23 Pavel Kirienko <pavel.k...@gmail.com>:

As of today, the only way to send a custom DSDL message, request, or response, is to use the embedded IPython console. It is a bit inconvenient but highly generic and flexible. You can also implement your own Panel, like the ESC Panel, for your custom data types. It shouldn't be difficult, PyQt5 is quite friendly; use the aforementioned ESC Panel as an example.

Pavel.

On Sun, Apr 1, 2018 at 3:30 PM, Pavel Vasev <pavel...@gmail.com> wrote:

Hi there!

We are developing custom uavcan protocol and thus have some DSDL definition files.

Is there a way to send requests (defined in our DSDL definitions) using uavcan_gui_tool or uavcan_nodetool ?

We hope this will simplify our debug process (instead of writing own request tool).

Thanks a lot!

Best Regards,

Pavel Vasev

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[Kent Martin]

Pavel,

That's good, but I can't find the ipyhton console it uavcan gui? I only see Tools->interactive console, which brings up Jupyter console.

I'm usingUAVCAN gui toll V0.9.0.

Can you tell me where to find the console and how to add the dsdl filess to it?

Is there an example explaingin how to make a new panel like the esc panel?

Thanks,

Kent.

On Tuesday, April 3, 2018 at 8:23:10 PM UTC+10, Pavel Kirienko wrote:

As of today, the only way to send a custom DSDL message, request, or response, is to use the embedded IPython console. It is a bit inconvenient but highly generic and flexible. You can also implement your own Panel, like the ESC Panel, for your custom data types. It shouldn't be difficult, PyQt5 is quite friendly; use the aforementioned ESC Panel as an example.

Pavel.

On Sun, Apr 1, 2018 at 3:30 PM, Pavel Vasev <pavel...@gmail.com> wrote:

Hi there!

We are developing custom uavcan protocol and thus have some DSDL definition files.

Is there a way to send requests (defined in our DSDL definitions) using uavcan_gui_tool or uavcan_nodetool ?

We hope this will simplify our debug process (instead of writing own request tool).

Thanks a lot!

Best Regards,

Pavel Vasev

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[Pavel Vasev]

I will appreciate too for some working example of custom dsdl loading and sending a request.

пт, 13 апр. 2018, 9:28 Kent Martin <kentma...@gmail.com>:

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[Pavel Kirienko]

Gentlemen,

In the case of the UAVCAN GUI Tool, both IPython and Jupyter refer to the same concept. You will find your answers on this page: http://uavcan.org/GUI_Tool/User_guide/

Let me know if there is something specific you need help with.

Pavel.

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[Kent Martin]

Pavel,

Thanks I have managed to get uavcan gui tool to recognise the packets.

The next question is how to send a packet to it?

With the python console how would I do this?

Also , after I test this we would like to make a panel like the esc one for setting parameters graphically.

Is their some help on these topics?

Thanks,

Kent

[Pavel Kirienko]

The examples are shown on this webpage here: http://uavcan.org/GUI_Tool/User_guide/ please search the page for the keyword "broadcast" (and there's also "request" for services).

There is currently no documentation on the subject of custom GUI elements, but it should be easy enough to do just by looking at the way existing panels and tools are implemented.

Pavel.

[Kent Martin]

Pavel,

Thanks, I did try the broadcast, however auto complete is not working for my custom data types when using broadcast. The standard messages do.

Is that supposed to be the case? 

I assume you want me to look at the source for UAVCAN GUI tool and esc panel python script and make my own script and build it into the UAVCAN GUI source code?

Is that correct.

Kent

[Pavel Kirienko]

> Thanks, I did try the broadcast, however auto complete is not working for my custom data types when using broadcast. The standard messages do.

> Is that supposed to be the case? 

No, it's a bug. A fix would be appreciated.

> I assume you want me to look at the source for UAVCAN GUI tool and esc panel python script and make my own script and build it into the UAVCAN GUI source code?

> Is that correct.

That is correct.

Pavel.

[Kent Martin]

Pavel,

I have tried typing non standard dsdl commands in the console but it will not recognise them as valid commands.

Is the console completely not able to support non standard dsdl commands at all?

Thanks,

Kent

[Pavel Kirienko]

The console is supposed to support them just fine. Please show us what you're typing and what you're getting back from the console so we could troubleshoot it together.

Pavel.

[Kent Martin]

Pavel,

Here is the command:

broadcast(rfd.equipment.eng_mon.EngineStatus(clearServiceData=0))

---------------------------------------------------------------------------

NameError                                 Traceback (most recent call last)

<ipython-input-1-039da1a50f5d> in <module>()

----> 1 broadcast(rfd.equipment.eng_mon.EngineStatus(clearServiceData=0))

NameError: name 'rfd' is not defined

Here is the folder structure

C:\Users\kentm\uavcan_vendor_specific_types\rfd\equipment\eng_mon

And the file :

210.EngineStatus.uavcan

# RFD Engine Monitor EngineStatus
# typedef struct 'EngineStatus'
# 17/04/18

## Data from client sent to server 
bool clearServiceData		# clear the service data after returning it, only used by rfdesign for resetting engines 

---

## Data returned from server to client
bool Result                 # result of service request, o = failed, 1 = passed
uint32[10] ICE1000RPM		# Engine RPM Bins ? mins in RPM bins(1000RPM) ? minutes uint32[10]
uint32[32] ICEEng10degC		# Temp Ch0 Bins ENGT ? seconds in 10 deg bins uint32[32]
uint32[100] ICEExh10degC	# Temp Ch0 Bins EXHT ? seconds in 10 deg bins uint32[100]
uint64 FaultBits			# Fault Bits ? 64 bit
uint32[64] FaultStartSec 	# Fault Start, when the fault first began 
uint32[64] FaultLastSec 	# Fault Last , when the fault last occurred
uint32[64] FaultCount 		# Fault Count, increments each time fault occurs

Note I have also made a dummy panel and tried 

import rfd

which also fails.

How can I get the custom dsdl in the panel as well?

Thanks,

Kent Martin

[Pavel Kirienko]

You should access third-party definitions as shown here: http://uavcan.org/Implementations/Pyuavcan/Tutorials/2._Basic_usage/#loading-dsdl-definitions

Example: uavcan.thirdparty.rfd.equipment.eng_mon.EngineStatus.

Pavel.

[Kent Martin]

Hi Pavel,

Ok I have tried again accessing using third party keyword.

It is returning 'bytearray' object has no attribute '_type'.

Can you tell me what is happening here?

Thanks,

Kent

broadcast(uavcan.thirdparty.rfd.equipment.eng_mon.EngineStatus.Request(clearServiceData=0))

2018-05-21 11:08:39,887 ERROR uavcan_gui_tool.active_data_type_detector: Could not detect data type name from transfer Transfer(id=1, source_node_id=20, dest_node_id=None, transfer_priority=30, payload=bytearray(b'\x00'))

Traceback (most recent call last):

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan_gui_tool\active_data_type_detector.py", line 37, in _on_transfer

    dtname = uavcan.get_uavcan_data_type(tr.payload).full_name

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\transport.py", line 33, in get_uavcan_data_type

    return obj._type

AttributeError: 'bytearray' object has no attribute '_type'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan_gui_tool\active_data_type_detector.py", line 42, in _on_transfer

    dtname = uavcan.DATATYPES[(tr.data_type_id, kind)].full_name

KeyError: (210, 1)

2018-05-21 11:08:40,776 INFO uavcan_gui_tool.widgets.node_monitor: Removing row 0

[Kent Martin]

Pavel,

could you please give a full example of sending a custom dsdl request,

I have been trying for quite some time now and incrementally leaking small amounts of information has been quite slow.

A full response would be appreciated due to the time delay between time zones.

Thanks,

Kent

[Pavel Kirienko]

Hi Kent,

In your specific case, the error is caused by the fact that you're trying to broadcast a service request. This is not possible by design; requests cannot be broadcasted. Instead of broadcast() you should use request(). A pull request adding a more meaningful error message would be appreciated!

Somebody else raised a concern that the bus monitor is unable to decode vendor-specific data types. That is a separate issue; it is due to the fact that the bus monitor runs in a separate process, which is not forked, but spawned; the new process is never instructed to load any vendor-specific data type definitions, and therefore, the user won't see their data types decoded in the bus monitor window. A temporary workaround for that is to put vendor-specific definitions into ~/uavcan_vendor_specific_types (more at http://uavcan.org/Implementations/Pyuavcan/Tutorials/2._Basic_usage/#using-vendor-specific-dsdl-definitions).

Pavel.

[Kent Martin]

HI pavel,

Ok I tried the command : 

request(uavcan.thirdparty.rfd.equipment.eng_mon.EngineStatus.Request(clearServiceData=0),10)

The destination nodeID is 10. I presume this is where it should be sent?

What do you mean a pull request with a more meaningful message?

The new error message returned is :

2018-05-23 11:06:39,438 ERROR uavcan_gui_tool.main: Node spin error [1 of 1000]: ValueError("Cannot generate YAML representation for <class 'NoneType'>",)

Traceback (most recent call last):

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan_gui_tool\main.py", line 531, in _spin_node

    self._node.spin(0)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\node.py", line 414, in spin

    self._poll_scheduler_and_get_next_deadline()

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\node.py", line 82, in _poll_scheduler_and_get_next_deadline

    return self._run_scheduler()

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\node.py", line 44, in <lambda>

    self._run_scheduler = lambda: self._scheduler.run(blocking=False) + self._scheduler.timefunc()

  File "C:\WinPython-32bit-3.4.4.1Qt5\python-3.4.4\lib\sched.py", line 151, in run

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\node.py", line 440, in on_timeout

    callback(None)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan_gui_tool\main.py", line 247, in print_yaml

    print(uavcan.to_yaml(obj))

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\introspect.py", line 140, in to_yaml

    return _to_yaml_impl(obj)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\introspect.py", line 105, in _to_yaml_impl

    raise ValueError('Cannot generate YAML representation for %r' % type(obj))

ValueError: Cannot generate YAML representation for <class 'NoneType'>

2018-05-23 11:06:39,896 ERROR uavcan_gui_tool.main: Node spin error [1 of 1000]: ValueError('Not enough bits; need 32 but got 31',)

Traceback (most recent call last):

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan_gui_tool\main.py", line 531, in _spin_node

    self._node.spin(0)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\node.py", line 411, in spin

    self._recv_frame(frame)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\node.py", line 306, in _recv_frame

    transfer.from_frames(transfer_frames)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\transport.py", line 786, in from_frames

    self.payload._unpack(bits_from_bytes(payload_bytes))

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\transport.py", line 572, in _unpack

    stream = field._unpack(stream)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\transport.py", line 380, in _unpack

    stream = self.__items[i]._unpack(stream)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\transport.py", line 219, in _unpack

    self._bits = be_from_le_bits(stream, self._type.bitlen)

  File "C:\Program Files (x86)\UAVCAN\UAVCAN GUI Tool\uavcan\transport.py", line 91, in be_from_le_bits

    raise ValueError("Not enough bits; need {0} but got {1}".format(bitlen, len(s)))

ValueError: Not enough bits; need 32 but got 31

What appears to be wrong this time?

Could you please put a sample of what you expect to be sent to send this request to the device.

The schedule to complete this is approaching and I need to progress or I'll have to look for another solution if a simple message cannot be successfully sent soon.

Thanks,

Kent Martin

here is DSDL source again

# RFD Engine Monitor EngineStatus
# typedef struct 'EngineStatus'
# 17/04/18

## Data from client sent to server 
bool clearServiceData		# clear the service data after returning it, only used by rfdesign for resetting engines 

---

## Data returned from server to client
bool Result                 # result of service request, o = failed, 1 = passed
uint32[10] ICE1000RPM		# Engine RPM Bins ? mins in RPM bins(1000RPM) ? minutes uint32[10]
uint32[32] ICEEng10degC		# Temp Ch0 Bins ENGT ? seconds in 10 deg bins uint32[32]
uint32[100] ICEExh10degC	# Temp Ch0 Bins EXHT ? seconds in 10 deg bins uint32[100]
uint64 FaultBits			# Fault Bits ? 64 bit
uint32[64] FaultStartSec 	# Fault Start, when the fault first began 
uint32[64] FaultLastSec 	# Fault Last , when the fault last occurred
uint32[64] FaultCount 		# Fault Count, increments each time fault occurs

[Pavel Kirienko]

It seems like the message definition on the remote node differs from that of the local node.

Here's an example. Put the following text into "ns/123.Service.uavcan":

uint24 request

---

uint8[<=16] response

Then launch two interconnected instances of the UAVCAN GUI Tool and assign them unique node ID values. You can use a virtual CAN bus interface for that.

In the setup window, specify the location of the "ns" directory created above, for both instances of the GUI tool.

Open the console window in the first instance and execute this:

def handle_request(e):

    print('Received request:\n', uavcan.to_yaml(e.request))

    return uavcan.thirdparty.ns.Service.Response(response='Hello world!')

serve(uavcan.thirdparty.ns.Service, handle_request)

Then open the console window of the second instance and run this:

Hope this helps.

Pavel.